-LRB- CNN -RRB- -- Poetry , performance and prayer celebrated the voice of literary giant Maya Angelou at a memorial service held Saturday at Wake Forest University in Winston-Salem , North Carolina .

`` She taught us that we are each wonderfully made , intricately woven and put on this earth for a purpose , '' first lady Michelle Obama said during her tribute to the celebrated poet and actress .

Angelou , 86 , died at her Winston-Salem home on May 28 . Angelou had been `` frail '' and suffering from heart problems , her literary agent said . Angelou taught American studies for years at Wake Forest .

Obama did not meet Angelou until 2008 , while on the campaign trail , but she said Angelou 's poem ` Phenomenal Woman ' had a profound impact on her life .

`` I was struck by how she celebrated black women 's beauty like no one had ever dared to , '' Obama said in the service held at Wait Chapel .

`` She also graced us with an anthem for all women , a call to all of us to embrace our God-given beauty . How desperately black girls needed that message , '' the first lady said , remembering that as a young girl her first doll was a white Malibu Barbie .

She said that Angelou reminded everyone that '' We must each find our own voice , decide our own value and then announce it to the world with all the pride and joy that is our birthright as members of the human race . ''

` Spiritual queen mother '

Oprah Winfrey remembered her friend as the greatest woman she has ever known .

`` The loss I feel I can not describe , '' Winfrey said , holding back tears . `` It 's like something I 've never felt before . She was my spiritual queen mother and everything that that word implies . She taught me the poetry of courage and respect . ''

Winfrey recalled meeting Angelou in the late 1970s , when she worked as a news reporter .

`` She looked at me and said , ` Who are you girl ? ' '' Winfrey said .

`` I will miss her . ''

` She had the voice of God '

`` I Loved Maya , '' said former President Bill Clinton during his reflection . He said the two last met in April in Austin during a celebration of of the 50th anniversary of the Civil Rights Act .

Clinton recalled that he hugged Angelou and said , '' I can not believe that you have gotten yourself here . '' He said she responded , `` Just because I 'm wheelchair-bound does n't mean I do n't get around . ''

Clinton became aware of Angelou while in college by reading her book . `` I Know Why the Caged Bird Sings , '' her lasting contribution to literature that bore witness to the brutality of a Jim Crow South .

He said Angelou was always paying attention and used her voice to call attention to the things that really mattered .

`` God loaned her his voice . She had the voice of God and he decided he wanted it back from her , '' Clinton told the audience .

Music and more

Actress Cicely Tyson reflected on a friendship that began in 1960 , when both were in a play called `` The Blacks , '' which ran for three years .

`` Every emotion known to man was exhibited by Maya . She held nothing -LRB- back -RRB- . She spoke her mind no matter what the situation , '' Tyson remembered .

The memorial service also featured singer Lee Ann Womack performing `` I Hope You Dance , '' considered Angelou 's favorite song .

At the conclusion of the service Saturday , Angelou 's voice once more was heard in a recording of the 1996 Ashford & Simpson song `` Been Found . ''

Maya Angelou remembered by those she inspired

Legendary author Maya Angelou dies at age 86

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Memorial service celebrates life and work of Maya Angelou

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Michelle Obama : `` She celebrated black women 's beauty like no one had ever dared to ''

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Oprah Winfrey : `` The loss I feel I can not describe ''

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Bill Clinton : `` God loaned her his voice ''